PhysicsEntity Class Reference

#include <PhysicsEntity.h>

Inherits Entity, and PhysicsObjectInterface.

Inherited by ArticulatedPhysicsEntity, LinkedPhysicsEntity, and SimplePhysicsEntity.

Collaboration diagram for PhysicsEntity:


Public Member Functions
	PhysicsEntity (unsigned short id, unsigned short environmentId, unsigned short instanceId, EntityType *type)
virtual	~PhysicsEntity ()
virtual void	setPhysicsTransformationPipe (TransformationPipe *pipe)
virtual TransformationPipe *	getPhysicsTransformationPipe ()
virtual void	setPhysicsObjectManager (PhysicsObjectManager *objectManager)
virtual void	getRigidBodies (std::vector< oops::RigidBody * > &rigidBodyList)=0
virtual void	getJoints (std::vector< oops::Joint * > &jointList)=0
virtual PhysicsObjectID	getPhysicsObjectID ()=0
Protected Member Functions
virtual void	setPhysicsTransformation (TransformationData trans)
virtual void	setEntityWorldTransformation (TransformationData trans)
virtual void	openPhysicsTransformationPipe ()
virtual void	closePhysicsTransformationPipe ()
virtual void	requestPhysicsTransformationPipe ()
virtual TransformationData	getPhysicsTransformation ()
Protected Attributes
bool	physicsPipeCreationInitiated
TransformationPipe *	physicsTransformationPipe
	Pointer to the TransformationPipe of the PhysicsEntity.
PhysicsObjectManager *	objectManager
	Pointer to the PhysicsObjectManager used by the Physics Module.
TransformationData	physicsTransformation
	Transformation of the physical representation.
Friends
class	CursorSpringConnector
class	OopsPhysicsEntityTransformationWriter
class	PhysicsEntityTransformationWriterModifier

Detailed Description

Physically simulated Entity. This class represents an Entity which can be simulated by the Physics Module. It therfore inherits from the Entity class and from the PhysicsObjectInterface. The class does not implement the methods inherited from the PhysicsObjectInterface so that different classes of PhysicsEntities can be implemented. The class stores a pointer to the PhysicsObjectManager which is used to distribute client input to the responsible server. It furthermore has a pointer to the TransformationPipe in which the resulting Entity Transformation is written.

Constructor & Destructor Documentation

PhysicsEntity::PhysicsEntity	(	unsigned short	id,
		unsigned short	environmentId,
		unsigned short	instanceId,
		EntityType *	type
	)

Constructor initializes Entity and zeroes Pointers.

Parameters:

	id	ID of the Entity
	environmentId	ID of the Environment where the Entity is created
	instanceId	ID for the instance this Entity is from the EntityType
	type	EntityType this Entity is an instance of

PhysicsEntity::~PhysicsEntity ( ) [virtual]

Destructor closes TransformationPipe if open.

Member Function Documentation

void PhysicsEntity::closePhysicsTransformationPipe ( ) [protected, virtual]

Closes the current PhysicsTransformationPipe. The method closes the current PhysicsTransformationPipe if there is one opened. It no pipe is opened it prints a warning.

virtual void PhysicsEntity::getJoints ( std::vector< oops::Joint * > & jointList ) [pure virtual]

Fills the passed list with all Joints it contains. It is mainly used by the PhysicsObjectManager to add the Joints to the simulation.

Parameters:

jointList

List which is filled with contained Joints

Implements PhysicsObjectInterface.

Implemented in ArticulatedPhysicsEntity, LinkedPhysicsEntity, and SimplePhysicsEntity.

virtual PhysicsObjectID PhysicsEntity::getPhysicsObjectID ( ) [pure virtual]

Adds the PhysicsObject to the passed simulation instance.

Parameters:

simulation

oops::Simulation class instance

Returns:: true if the object could be added, false otherwise Removes the PhysicsObject from the passed simulation instance.

Parameters:

simulation

oops::Simulation class instance

Returns:: true if the object could be removed, false otherwise Returns the ID of the PhysicsObject. The method has to return the unique PhysicsObjectID of the PhysicsObject. The programmer has to ensure that this PhysicsObjectID is set properly and that it is unique.
ID of the PhysicsObject

Implements PhysicsObjectInterface.

Implemented in ArticulatedPhysicsEntity, LinkedPhysicsEntity, and SimplePhysicsEntity.

TransformationData PhysicsEntity::getPhysicsTransformation ( ) [protected, virtual]

Returns the current Transformation set by the Physics simulation.

TransformationPipe * PhysicsEntity::getPhysicsTransformationPipe ( ) [virtual]

Returns the TransformationPipe for Physics Entity. The method returns the TransformationPipe in which the Entity transformation will be written. This TransformationPipe will be used by the EntityTransformationWriter to write the simluation results.

Returns:: TransformationPipe of the Physics Entity

virtual void PhysicsEntity::getRigidBodies ( std::vector< oops::RigidBody * > & rigidBodyList ) [pure virtual]

Fills the passed list with all RigidBodies it contains. It is mainly used by the PhysicsObjectManager to add the RigidBodies to the simulation.

Parameters:

rigidBodyList

List which is filled with contained RigidBodies

Implements PhysicsObjectInterface.

Implemented in ArticulatedPhysicsEntity, LinkedPhysicsEntity, and SimplePhysicsEntity.

void PhysicsEntity::openPhysicsTransformationPipe ( ) [protected, virtual]

Opens a default PhysicsTransformationPipe. The method opens the default PhysicsTransformationPipe. The default pipe should only consist of one PhysicsEntityTransformationWriterModifier.

void PhysicsEntity::requestPhysicsTransformationPipe ( ) [protected, virtual]

Requests the PhysicsTransformationPipe from the TransformationManager The method tries to get the TransformationPipe from the TransformationManager if already present.

void PhysicsEntity::setEntityWorldTransformation ( TransformationData trans ) [protected, virtual]

Sets the Transformation of the Entity. The method is used to update the Enitity-Transformation usually with the Transformation obtained from the physical representation. The method is called by the PhysicsEntityTransformationWriterModifier.

Parameters:

trans

new Transformation of the Entity.

void PhysicsEntity::setPhysicsObjectManager ( PhysicsObjectManager * objectManager ) [virtual]

Stores a pointer to the PhysicsObjectManager. The method stores a pointer to the used PhysicsObjectManager. This is needed when a client input should be sent to the physics server. The method has to encode the method call and call the handleClientInput method of the PhysicsObjectManager.

Implements PhysicsObjectInterface.

void PhysicsEntity::setPhysicsTransformation ( TransformationData trans ) [protected, virtual]

Stores the Transformation of the physical representation. The method is called by the PhysicsEntityTransformation Writer which is registered at the physical representation of this PhysicsEntity. It stores the passed Transformation locally and passes it to the physicsTransformationPipe.

Parameters:

trans

Transformation of the physical representation

void PhysicsEntity::setPhysicsTransformationPipe ( TransformationPipe * pipe ) [virtual]

Sets the TransformationPipe for Physics Entity. The Method sets the TransformationPipe in which the new Entity transformation can be written. This TransformationPipe will be used by the EntityTransformationWriter to write the simulation results.

Parameters:

pipe

TransformationPipe where to put the transformation

Friends And Related Function Documentation

friend class CursorSpringConnector [friend]

Handles incoming messages containing remote method calls. The method receives an incoming message containing a remote method call. First it decodes the type of the message. If the type is not a negative number it is not handled by the PhysicsEntity-class itself and therfore the message is passed to the handleMessage(unsigned type,OSG::NetMessage* msg) method which has to be implemented in the derived class. If the method-type is a negative number it is proven which method call is encoded by comparing the type with the REMOTE_FUNCTIONS enumeration member. If a matching function is found it is called.

Parameters:

msg

Message containing remote method call.

Returns:: true if the method call could be executed.

Reimplemented in ArticulatedPhysicsEntity, and SimplePhysicsEntity.

friend class OopsPhysicsEntityTransformationWriter [friend]

friend class PhysicsEntityTransformationWriterModifier [friend]

Member Data Documentation

PhysicsObjectManager* PhysicsEntity::objectManager [protected]

Pointer to the PhysicsObjectManager used by the Physics Module.

bool PhysicsEntity::physicsPipeCreationInitiated [protected]

DEPRECATED: Handles an incoming SynchroniseAllToClient message. DEPRECATED: Handles an incoming SynchroniseAllToDRClient message. DEPRECATED: Handles an incoming SynchroniseAllToServer message. DEPRECATED: Handles an incoming SynchroniseChangesToClient message. DEPRECATED: Handles an incoming SynchroniseChangesToDRClient message. DEPRECATED: Handles an incoming SynchroniseChangesToServer message. DEPRECATED: Handles an incoming SynchroniseObjectTransformation message.

Parameters:

	msg	incomming message Handles a remote method call. The method receives a message containing an remote method call identified by the parameter `type`. The datatype unsigned is chosen because negative method types are handled by the PhysicsEntity itself. These are used for the `synchroniseXXX` methods and the `handleSyncXXX` methods. When a more data has to be synchronised these methods can be overloaded in derived classes.
	function	Method type
	msg	Message containing the method call